A Monocular Vision Positioning Method for Underwater Robot

A technology of underwater robot and positioning method, which is applied in the directions of instruments, photogrammetry/video measurement, reflection/re-radiation of radio waves, etc. problem, to achieve the effect of expanding the scope of use

Active Publication Date: 2017-12-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, the current method of using EKF filtering is only used to estimate the position of the robot, and does not consider the Euler angle of the robot, which leads to the fact that the method cannot be effectively used for the control of underwater robots in actual use.

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  • A Monocular Vision Positioning Method for Underwater Robot
  • A Monocular Vision Positioning Method for Underwater Robot
  • A Monocular Vision Positioning Method for Underwater Robot

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Embodiment Construction

[0052]The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention. .

[0053] The principle of this embodiment based on the nonlinear Unscented Kalman Filter (UKF) method is to measure the linear velocity and angular velocity of the underwater robot under the carrier system according to the mathematical model of the underwater robot, combined with Doppler and gyroscope , obtain the state equation; take 4 static feature points whose coordinates are known in the global system, on the basis of the dynamic model of the underwater robot, through the change of the coordinate system, the position of the feature points in the image system under the known global system is obtained. , the measurement equation i...

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Abstract

The invention provides an underwater robot monocular vision positioning method. A Doppler instrument and a gyroscope are combined o measure the linear speed and the angular speed of an underwater robot under a load system, and a state equation is obtained; four known static feature points of coordinates under an overall system are obtained, the positions of the feature points under an image system are obtained according to coordinate system changes, and a measuring equation is obtained; the state vector at the k-1 time and a covariance matrix of the state vector are known, and a Sigma point is obtained through an Unscented transform method; the measuring value at the k time is estimated through time update again; the Doppler instrument and the gyroscope are combined to measure the linear speed and the angular speed of an aircraft under the load system and the positions of the feature points under the overall system under the image system, the measuring value at the k time can be obtained, the state vector of the k time is estimated through measurement update, and a covariance matrix of the state vector at the k time is obtained. The limitation that layout of feather points in a geometric method must meet specific conditions is broken through, the defect that EKF filter can only estimate position information is overcome, and position information and the euler angle can be estimated at the same time.

Description

technical field [0001] The invention relates to the technical field of underwater visual positioning, in particular to a monocular visual positioning method of an underwater robot, which realizes the monocular visual positioning of an underwater robot through pose estimation based on nonlinear Kalman filtering. Background technique [0002] With the rapid development of ocean development, there are more and more underwater construction and construction projects, and the performance requirements for underwater action means are also getting higher and higher. Only by obtaining high-precision position and attitude information can an underwater robot achieve precise control. Underwater positioning is one of the key technologies to be solved in the development of underwater robots. For a long time, people have been devoted to the research of underwater acoustic positioning technology, and have achieved good research results in the medium and long-distance target positioning and n...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20G01C11/00G01S13/88G01S13/86
CPCG01C11/00G01C21/005G01C21/165G01C21/20G01S13/86G01S13/881
Inventor 高剑孙笑笑严卫生张福斌夏飞崔荣鑫
Owner NORTHWESTERN POLYTECHNICAL UNIV
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